Rockwell Automation 1391ES AC Servo Controller User Manual

Page 36

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Inputs, Outputs and Adjustments

Chapter 5

5-34

Configuration Switch - S2

Prior to start-up, the switch positions of S2 must be checked against the
listing in Table 5.D to ensure proper setting. Refer to the paragraphs
following the table for switch descriptions.

ATTENTION: Only personnel familiar with the 1391B-ES
controller and its associated machinery should plan or
implement the adjustment, calibration, start-up and subsequent
maintenance of the controller. Failure to comply may result in
personal injury and/or equipment damage.

ATTENTION: An incorrectly applied or calibrated controller
can result in component damage or a reduction in product life.
Wiring or application errors, such as, undersizing the motor,
incorrect or inadequate AC supply, or excessive ambient
temperatures may result in malfunction of the controller.

!

!

Table 5.D
S2 Switch Descriptions (* Denotes factory setting for 1326AB motors)

Switch

S2-1

S2-2

S2-3

S2-4

S2-5

S2-6

S2-7, 8

S2-9, 10

S2-11, 12

Function

Tachometer Scaling

I

D

Cut In

I

D

Magnitude

Drive OK / Drive
Ready

Torque Block / Veloc-
ity Loop Operation

Velocity Loop
Compensation

Error Amp Gain

Tachometer Filter

Staircase Filtering

Description/Setting

ON

1.2V / krpm 1326AB-Axx and 1326AD motors

OFF 2.0 / krpm

1326AB-Bxx & 1326AB-Cxx motors up to 4000 rpm*

See Table 5.E

ON

1326AB motors*

OFF 1326AD motors

ON

DROK closes if no faults are detected and the bus voltage is up*

OFF DROK closes if no faults are detected, with or without bus voltage

ON

Torque block operation

OFF Velocity loop operation*

ON

Reduces integral gain (bandwidth) for high inertia systems

OFF Normal gain*

Reduces velocity loop gain when running 1326AD motors
S2-7

S2-8

Gain Reduction

OFF

OFF None*

OFF

ON

33%

ON

OFF

33%

ON

ON

50%

Additional filtering in tach feedback circuit for mechanical resonances, etc.
S2-9

S2-10

Filter Bandwidth

OFF

OFF 430

Hz*

OFF

ON

284 Hz

ON

OFF

204 Hz

ON

ON

165 Hz

Introduces additional filtering to the velocity command from positioning controller to
minimize staircasing effects from the DAC output
S2-11

S2-12

Filter Bandwidth

OFF

OFF –

*

OFF

ON

159 Hz

ON

OFF

159 Hz

ON

ON

79 Hz

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